orocos_kdl
src
path_circle.hpp
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/***************************************************************************
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tag: Erwin Aertbelien Mon Jan 10 16:38:39 CET 2005 path_circle.h
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path_circle.h - description
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-------------------
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begin : Mon January 10 2005
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copyright : (C) 2005 Erwin Aertbelien
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email : erwin.aertbelien@mech.kuleuven.ac.be
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***************************************************************************
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* This library is free software; you can redistribute it and/or *
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* modify it under the terms of the GNU Lesser General Public *
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* License as published by the Free Software Foundation; either *
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* version 2.1 of the License, or (at your option) any later version. *
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* *
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* This library is distributed in the hope that it will be useful, *
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* but WITHOUT ANY WARRANTY; without even the implied warranty of *
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU *
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* Lesser General Public License for more details. *
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* *
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* You should have received a copy of the GNU Lesser General Public *
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* License along with this library; if not, write to the Free Software *
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* Foundation, Inc., 59 Temple Place, *
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* Suite 330, Boston, MA 02111-1307 USA *
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* *
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***************************************************************************/
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/*****************************************************************************
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* ALTERNATIVE FOR trajectory_circle.h/cpp
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* \author
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* Erwin Aertbelien, Div. PMA, Dep. of Mech. Eng., K.U.Leuven
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*
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* \version
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* ORO_Geometry V0.2
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*
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* \par History
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* - $log$
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*
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* \par Release
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* $Id: path_circle.h,v 1.1.1.1.2.3 2003/07/24 13:26:15 psoetens Exp $
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* $Name: $
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****************************************************************************/
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#ifndef KDL_MOTION_PATHCIRCLE_H
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#define KDL_MOTION_PATHCIRCLE_H
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#include "
path.hpp
"
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#include "
rotational_interpolation.hpp
"
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namespace
KDL
{
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class
Path_Circle :
public
Path
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{
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// Orientatie gedeelte
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RotationalInterpolation*
orient
;
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// Circular gedeelte
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double
radius
;
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Frame
F_base_center
;
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// equivalent radius
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double
eqradius
;
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// verdeling baanlengte over pos/rot
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double
pathlength
;
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double
scalelin
;
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double
scalerot
;
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bool
aggregate
;
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public
:
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Path_Circle
(
const
Frame& F_base_start,
const
Vector& V_base_center,
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const
Vector& V_base_p,
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const
Rotation& R_base_end,
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double
alpha,
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RotationalInterpolation* otraj,
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double
eqradius
,
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bool
_aggregate=
true
);
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double
LengthToS
(
double
length);
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virtual
double
PathLength
();
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virtual
Frame
Pos
(
double
s)
const
;
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virtual
Twist
Vel
(
double
s,
double
sd)
const
;
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virtual
Twist
Acc
(
double
s,
double
sd,
double
sdd)
const
;
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virtual
Path
*
Clone
();
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virtual
void
Write
(
std::ostream
& os);
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virtual
IdentifierType
getIdentifier
()
const
{
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return
ID_CIRCLE
;
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}
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virtual
~Path_Circle
();
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};
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}
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#endif
KDL::Path_Circle::Write
virtual void Write(std::ostream &os)
Definition:
path_circle.cpp:196
KDL::Path_Circle::F_base_center
Frame F_base_center
Definition:
path_circle.hpp:146
KDL::Path_Circle::Vel
virtual Twist Vel(double s, double sd) const
Definition:
path_circle.cpp:155
KDL::Path_Circle::Acc
virtual Twist Acc(double s, double sd, double sdd) const
Definition:
path_circle.cpp:163
KDL
Definition:
kukaLWR_DHnew.cpp:25
KDL::Path_Circle::~Path_Circle
virtual ~Path_Circle()
Definition:
path_circle.cpp:191
KDL::Path_Circle::aggregate
bool aggregate
Definition:
path_circle.hpp:156
KDL::Twist
represents both translational and rotational velocities.
Definition:
frames.hpp:723
KDL::Path_Circle::orient
RotationalInterpolation * orient
Definition:
path_circle.hpp:142
std::ostream
KDL::Path::IdentifierType
IdentifierType
Definition:
path.hpp:137
KDL::Path_Circle::pathlength
double pathlength
Definition:
path_circle.hpp:152
KDL::Path_Circle::PathLength
virtual double PathLength()
Definition:
path_circle.cpp:143
KDL::Path_Circle::radius
double radius
Definition:
path_circle.hpp:145
KDL::Path_Circle::getIdentifier
virtual IdentifierType getIdentifier() const
Definition:
path_circle.hpp:185
KDL::Path_Circle::Path_Circle
Path_Circle(const Frame &F_base_start, const Vector &V_base_center, const Vector &V_base_p, const Rotation &R_base_end, double alpha, RotationalInterpolation *otraj, double eqradius, bool _aggregate=true)
Definition:
path_circle.cpp:86
KDL::Path_Circle::eqradius
double eqradius
Definition:
path_circle.hpp:149
KDL::Path_Circle::Clone
virtual Path * Clone()
Definition:
path_circle.cpp:178
path.hpp
rotational_interpolation.hpp
KDL::Path
Definition:
path.hpp:96
KDL::Path_Circle::scalerot
double scalerot
Definition:
path_circle.hpp:154
KDL::Path_Circle::LengthToS
double LengthToS(double length)
Definition:
path_circle.cpp:138
KDL::Path_Circle::Pos
virtual Frame Pos(double s) const
Definition:
path_circle.cpp:147
KDL::Path::ID_CIRCLE
@ ID_CIRCLE
Definition:
path.hpp:177
KDL::Path_Circle::scalelin
double scalelin
Definition:
path_circle.hpp:153
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